\hypertarget{structDataBus}{}\doxysection{Data\+Bus Struct Reference}
\label{structDataBus}\index{DataBus@{DataBus}}


The software model for data transporting.  




{\ttfamily \#include $<$data\+\_\+bus.\+h$>$}

\doxysubsection*{Public Types}
\begin{DoxyCompactItemize}
\item 
enum \mbox{\hyperlink{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7e}{Leg\+State}} \{ \mbox{\hyperlink{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec}{L\+St}}, 
{\bfseries R\+St}, 
\mbox{\hyperlink{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7ea4b29d84a010b44b9b4110be2183ab3a2}{D\+St}}
 \}
\begin{DoxyCompactList}\small\item\em enum current leg stance states \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\hyperlink{structDataBus_a2fe45f9893482708677ee68305685b72}{Data\+Bus}} (int model\+\_\+nv\+In)
\begin{DoxyCompactList}\small\item\em Construct a new Data Bus object. \end{DoxyCompactList}\item 
void \mbox{\hyperlink{structDataBus_a1673b53d2c783faaf80cb549c2065d78}{updateQ}} ()
\begin{DoxyCompactList}\small\item\em update q (generalized coordinate) according to sensor values \end{DoxyCompactList}\item 
Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \mbox{\hyperlink{structDataBus_af2ffb1739963462a7dfc20fc1e4a6192}{eul2\+Rot}} (double roll, double pitch, double yaw)
\begin{DoxyCompactList}\small\item\em compute the rotation matrix using euler angle \end{DoxyCompactList}\item 
Eigen\+::\+Quaterniond \mbox{\hyperlink{structDataBus_ad2308a852d46c6b1471c2253bd129620}{eul2quat}} (double roll, double pitch, double yaw)
\begin{DoxyCompactList}\small\item\em compute quaternoin from euler angle \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Static Public Member Functions}
\begin{DoxyCompactItemize}
\item 
static void \mbox{\hyperlink{structDataBus_addcaefa0eeba96ed370e8b24e4ebd940}{printdq}} (const Eigen\+::\+Vector\+Xd \&\mbox{\hyperlink{structDataBus_a1edc3a08678a00bdb4eb755a3157ec9b}{q}})
\begin{DoxyCompactList}\small\item\em print the information of dq to the terminal \end{DoxyCompactList}\item 
static void \mbox{\hyperlink{structDataBus_a8879e68efdd97fdada83e7b28b3c4bca}{printq}} (const Eigen\+::\+Vector\+Xd \&\mbox{\hyperlink{structDataBus_a1edc3a08678a00bdb4eb755a3157ec9b}{q}})
\begin{DoxyCompactList}\small\item\em print the information of q to the terminal \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{structDataBus_ab9671a85da9b64c8be6c8d7d822c3db9}\label{structDataBus_ab9671a85da9b64c8be6c8d7d822c3db9}} 
const int \mbox{\hyperlink{structDataBus_ab9671a85da9b64c8be6c8d7d822c3db9}{model\+\_\+nv}}
\begin{DoxyCompactList}\small\item\em number of the degree of freedom of the model, i.\+e. dq \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ae91319ee83a8cf354911f14955449283}\label{structDataBus_ae91319ee83a8cf354911f14955449283}} 
const Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_ae91319ee83a8cf354911f14955449283}{fe\+\_\+\+L\+\_\+rot\+\_\+\+L\+\_\+off}} =(Eigen\+::\+Matrix\+Xd(3,3)$<$$<$ 1,0,0, 0,1,0, 0,0,1).finished()
\begin{DoxyCompactList}\small\item\em left foot-\/end Rotation matrix w.\+r.\+t the local(body) frame in offset posture \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_af13c859c256c7844154a2aac483123bd}\label{structDataBus_af13c859c256c7844154a2aac483123bd}} 
const Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_af13c859c256c7844154a2aac483123bd}{fe\+\_\+\+R\+\_\+rot\+\_\+\+L\+\_\+off}} =(Eigen\+::\+Matrix\+Xd(3,3)$<$$<$ 1,0,0, 0,1,0, 0,0,1).finished()
\begin{DoxyCompactList}\small\item\em right foot-\/end Rotation matrix w.\+r.\+t the local(body) frame in offset posture \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a9b45a5287b92f51cc27899eee18f9ff2}\label{structDataBus_a9b45a5287b92f51cc27899eee18f9ff2}} 
double \mbox{\hyperlink{structDataBus_a9b45a5287b92f51cc27899eee18f9ff2}{rpy}} \mbox{[}3\mbox{]}
\begin{DoxyCompactList}\small\item\em roll, pitch, yaw angle of the robot body in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_aadc53e4bcea2d069903b5de3274d5058}\label{structDataBus_aadc53e4bcea2d069903b5de3274d5058}} 
double \mbox{\hyperlink{structDataBus_aadc53e4bcea2d069903b5de3274d5058}{fL}} \mbox{[}3\mbox{]}
\begin{DoxyCompactList}\small\item\em reaction force from ground to the left foot of the robot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ab3279b454456687b2293f804b7e70390}\label{structDataBus_ab3279b454456687b2293f804b7e70390}} 
double \mbox{\hyperlink{structDataBus_ab3279b454456687b2293f804b7e70390}{fR}} \mbox{[}3\mbox{]}
\begin{DoxyCompactList}\small\item\em reaction force from ground to the right foot of the robot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a66bfad87a864abd89bd6a0308e65ebc4}\label{structDataBus_a66bfad87a864abd89bd6a0308e65ebc4}} 
double \mbox{\hyperlink{structDataBus_a66bfad87a864abd89bd6a0308e65ebc4}{base\+Pos}} \mbox{[}3\mbox{]}
\begin{DoxyCompactList}\small\item\em linear position of the base(body) of the robot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a5b79678006c606fc8e70a082f4fb1fe4}\label{structDataBus_a5b79678006c606fc8e70a082f4fb1fe4}} 
double \mbox{\hyperlink{structDataBus_a5b79678006c606fc8e70a082f4fb1fe4}{base\+Lin\+Vel}} \mbox{[}3\mbox{]}
\begin{DoxyCompactList}\small\item\em linear velocity of the base(body) of the robot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a0197a7fdd8fd08faa9981b7e9f758a2d}\label{structDataBus_a0197a7fdd8fd08faa9981b7e9f758a2d}} 
double \mbox{\hyperlink{structDataBus_a0197a7fdd8fd08faa9981b7e9f758a2d}{base\+Acc}} \mbox{[}3\mbox{]}
\begin{DoxyCompactList}\small\item\em linear acceleration of the base link \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_acc95bd4d4d7820893823fc0ad5ac3526}\label{structDataBus_acc95bd4d4d7820893823fc0ad5ac3526}} 
double \mbox{\hyperlink{structDataBus_acc95bd4d4d7820893823fc0ad5ac3526}{base\+Ang\+Vel}} \mbox{[}3\mbox{]}
\begin{DoxyCompactList}\small\item\em angular velocity of the base link \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a44f2d7d4c5921d086e842faf04d6b5e3}\label{structDataBus_a44f2d7d4c5921d086e842faf04d6b5e3}} 
std\+::vector$<$ double $>$ \mbox{\hyperlink{structDataBus_a44f2d7d4c5921d086e842faf04d6b5e3}{motors\+\_\+pos\+\_\+cur}}
\begin{DoxyCompactList}\small\item\em all current motors position \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a6e174173373c09044fe77214ac22d61b}\label{structDataBus_a6e174173373c09044fe77214ac22d61b}} 
std\+::vector$<$ double $>$ \mbox{\hyperlink{structDataBus_a6e174173373c09044fe77214ac22d61b}{motors\+\_\+vel\+\_\+cur}}
\begin{DoxyCompactList}\small\item\em all current motors velocity \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a1996047c3f808dda9f4cc3944d0d486a}\label{structDataBus_a1996047c3f808dda9f4cc3944d0d486a}} 
std\+::vector$<$ double $>$ \mbox{\hyperlink{structDataBus_a1996047c3f808dda9f4cc3944d0d486a}{motors\+\_\+tor\+\_\+cur}}
\begin{DoxyCompactList}\small\item\em all current motors torque \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ab45a37863d3650eb9fde838c427eea72}\label{structDataBus_ab45a37863d3650eb9fde838c427eea72}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_ab45a37863d3650eb9fde838c427eea72}{F\+L\+\_\+est}}
\begin{DoxyCompactList}\small\item\em estimation of the ground reaction force of left leg \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a15ddd144e2234a2bb6e33b8c2da92b8e}\label{structDataBus_a15ddd144e2234a2bb6e33b8c2da92b8e}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a15ddd144e2234a2bb6e33b8c2da92b8e}{F\+R\+\_\+est}}
\begin{DoxyCompactList}\small\item\em estimation of the ground reaction force of right leg \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a8426d381e3812f1223a8029f5f0ca5a3}\label{structDataBus_a8426d381e3812f1223a8029f5f0ca5a3}} 
std\+::vector$<$ double $>$ \mbox{\hyperlink{structDataBus_a8426d381e3812f1223a8029f5f0ca5a3}{motors\+\_\+pos\+\_\+des}}
\begin{DoxyCompactList}\small\item\em all desired motors position \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a0510f771e207671abbddd60b94cc58fb}\label{structDataBus_a0510f771e207671abbddd60b94cc58fb}} 
std\+::vector$<$ double $>$ \mbox{\hyperlink{structDataBus_a0510f771e207671abbddd60b94cc58fb}{motors\+\_\+vel\+\_\+des}}
\begin{DoxyCompactList}\small\item\em all desired motors velocity \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a9c4fd58f3ce8b0d79f96431c45e3dc87}\label{structDataBus_a9c4fd58f3ce8b0d79f96431c45e3dc87}} 
std\+::vector$<$ double $>$ \mbox{\hyperlink{structDataBus_a9c4fd58f3ce8b0d79f96431c45e3dc87}{motors\+\_\+tor\+\_\+des}}
\begin{DoxyCompactList}\small\item\em all desired motors torque \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a146a3c93dea478ed4c2bc88d120a6204}\label{structDataBus_a146a3c93dea478ed4c2bc88d120a6204}} 
std\+::vector$<$ double $>$ \mbox{\hyperlink{structDataBus_a146a3c93dea478ed4c2bc88d120a6204}{motors\+\_\+tor\+\_\+out}}
\begin{DoxyCompactList}\small\item\em all final output motors torque \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a1edc3a08678a00bdb4eb755a3157ec9b}\label{structDataBus_a1edc3a08678a00bdb4eb755a3157ec9b}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a1edc3a08678a00bdb4eb755a3157ec9b}{q}}
\begin{DoxyCompactList}\small\item\em position variable of the robot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a1e20ca2abda0e8342aa07eaf4b7adaa4}\label{structDataBus_a1e20ca2abda0e8342aa07eaf4b7adaa4}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a1e20ca2abda0e8342aa07eaf4b7adaa4}{dq}}
\begin{DoxyCompactList}\small\item\em velocity variable of the robot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a0564a337e371809806d164ce3946de28}\label{structDataBus_a0564a337e371809806d164ce3946de28}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a0564a337e371809806d164ce3946de28}{ddq}}
\begin{DoxyCompactList}\small\item\em acceleration variable of the robot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_acca5e5ffdbc107b465d5c291617e34a6}\label{structDataBus_acca5e5ffdbc107b465d5c291617e34a6}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_acca5e5ffdbc107b465d5c291617e34a6}{q\+Old}}
\begin{DoxyCompactList}\small\item\em last state variable of the robot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a72d6adca7adb79b4ed026eb6a75b7dce}\label{structDataBus_a72d6adca7adb79b4ed026eb6a75b7dce}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_a72d6adca7adb79b4ed026eb6a75b7dce}{J\+\_\+base}}
\begin{DoxyCompactList}\small\item\em jacobian matrix of the baselink \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a3d71c2856c6ecbfec729a09024d026f8}\label{structDataBus_a3d71c2856c6ecbfec729a09024d026f8}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_a3d71c2856c6ecbfec729a09024d026f8}{J\+\_\+l}}
\begin{DoxyCompactList}\small\item\em jacobian matrix of left foot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a8901e359598639544806c2ccde5cc7b3}\label{structDataBus_a8901e359598639544806c2ccde5cc7b3}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_a8901e359598639544806c2ccde5cc7b3}{J\+\_\+r}}
\begin{DoxyCompactList}\small\item\em jacobian matrix of right foot \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a160475450d1af7e42d88d345c498f5ae}\label{structDataBus_a160475450d1af7e42d88d345c498f5ae}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_a160475450d1af7e42d88d345c498f5ae}{J\+\_\+hd\+\_\+l}}
\begin{DoxyCompactList}\small\item\em jacobian matrix of left hand \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a8174314fc64353b48695467949dddb20}\label{structDataBus_a8174314fc64353b48695467949dddb20}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_a8174314fc64353b48695467949dddb20}{J\+\_\+hd\+\_\+r}}
\begin{DoxyCompactList}\small\item\em jacobian matrix of right hand \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ad3ec45a371e1a6cb72a158e651647cd6}\label{structDataBus_ad3ec45a371e1a6cb72a158e651647cd6}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_ad3ec45a371e1a6cb72a158e651647cd6}{d\+J\+\_\+base}}
\begin{DoxyCompactList}\small\item\em jacobian time variation matrix of the baselink \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_af02ef8e966761be5381e8f8ce1f4f324}\label{structDataBus_af02ef8e966761be5381e8f8ce1f4f324}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_af02ef8e966761be5381e8f8ce1f4f324}{d\+J\+\_\+l}}
\begin{DoxyCompactList}\small\item\em jacobian time variation matrix of left leg \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_aad4b760c5cb1103d2409810f887cace3}\label{structDataBus_aad4b760c5cb1103d2409810f887cace3}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_aad4b760c5cb1103d2409810f887cace3}{d\+J\+\_\+r}}
\begin{DoxyCompactList}\small\item\em jacobian time variation matrix of right leg \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a6e6e46a9c55551f1f13b82d9f62ec1fc}\label{structDataBus_a6e6e46a9c55551f1f13b82d9f62ec1fc}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_a6e6e46a9c55551f1f13b82d9f62ec1fc}{d\+J\+\_\+hd\+\_\+l}}
\begin{DoxyCompactList}\small\item\em jacobian time variation matrix of left hand \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ab99c2d927ac41782cefe44509bf20322}\label{structDataBus_ab99c2d927ac41782cefe44509bf20322}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_ab99c2d927ac41782cefe44509bf20322}{d\+J\+\_\+hd\+\_\+r}}
\begin{DoxyCompactList}\small\item\em jacobian time variation matrix of right hand \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a1bb8296c8580550caf059e975149658e}\label{structDataBus_a1bb8296c8580550caf059e975149658e}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a1bb8296c8580550caf059e975149658e}{fe\+\_\+r\+\_\+pos\+\_\+W}}
\begin{DoxyCompactList}\small\item\em right foot position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a05ae4114523a0df9822667297ba5046d}\label{structDataBus_a05ae4114523a0df9822667297ba5046d}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a05ae4114523a0df9822667297ba5046d}{fe\+\_\+l\+\_\+pos\+\_\+W}}
\begin{DoxyCompactList}\small\item\em left foot position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a7bb7e1397ba963e17e1f840cc7abd610}\label{structDataBus_a7bb7e1397ba963e17e1f840cc7abd610}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a7bb7e1397ba963e17e1f840cc7abd610}{base\+\_\+pos}}
\begin{DoxyCompactList}\small\item\em base position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ad8eeb01c84d65c903a3e6190925af3f2}\label{structDataBus_ad8eeb01c84d65c903a3e6190925af3f2}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_ad8eeb01c84d65c903a3e6190925af3f2}{fe\+\_\+r\+\_\+rot\+\_\+W}}
\begin{DoxyCompactList}\small\item\em right foot rotation matrix in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a97432e506d995437e3cb622002cac9d4}\label{structDataBus_a97432e506d995437e3cb622002cac9d4}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a97432e506d995437e3cb622002cac9d4}{fe\+\_\+l\+\_\+rot\+\_\+W}}
\begin{DoxyCompactList}\small\item\em left foot rotation matrix in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a0113f7940144a8e35089fd9818e8d70b}\label{structDataBus_a0113f7940144a8e35089fd9818e8d70b}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a0113f7940144a8e35089fd9818e8d70b}{base\+\_\+rot}}
\begin{DoxyCompactList}\small\item\em base rotation matrix in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ad4c67bd1538d0e0c6f101de61219666a}\label{structDataBus_ad4c67bd1538d0e0c6f101de61219666a}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_ad4c67bd1538d0e0c6f101de61219666a}{fe\+\_\+r\+\_\+pos\+\_\+L}}
\begin{DoxyCompactList}\small\item\em right foot position in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a3300095871d62258ed87b0a8b00e6b95}\label{structDataBus_a3300095871d62258ed87b0a8b00e6b95}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a3300095871d62258ed87b0a8b00e6b95}{fe\+\_\+l\+\_\+pos\+\_\+L}}
\begin{DoxyCompactList}\small\item\em left foot position in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a614b57b26f48851c0da4a87721efe71b}\label{structDataBus_a614b57b26f48851c0da4a87721efe71b}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a614b57b26f48851c0da4a87721efe71b}{hip\+\_\+r\+\_\+pos\+\_\+L}}
\begin{DoxyCompactList}\small\item\em right hip position in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a202f9dff68b4a72cca3ee73d6e80553e}\label{structDataBus_a202f9dff68b4a72cca3ee73d6e80553e}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a202f9dff68b4a72cca3ee73d6e80553e}{hip\+\_\+l\+\_\+pos\+\_\+L}}
\begin{DoxyCompactList}\small\item\em left hip position in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a28192a2cec986c703498af32d7b1de54}\label{structDataBus_a28192a2cec986c703498af32d7b1de54}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a28192a2cec986c703498af32d7b1de54}{hip\+\_\+r\+\_\+pos\+\_\+W}}
\begin{DoxyCompactList}\small\item\em right hip position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a2481f4929359c2f0fbdb6924f5f77958}\label{structDataBus_a2481f4929359c2f0fbdb6924f5f77958}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a2481f4929359c2f0fbdb6924f5f77958}{hip\+\_\+l\+\_\+pos\+\_\+W}}
\begin{DoxyCompactList}\small\item\em left hip position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a8e2b1bd1613049d6fa70ae08830aa034}\label{structDataBus_a8e2b1bd1613049d6fa70ae08830aa034}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a8e2b1bd1613049d6fa70ae08830aa034}{fe\+\_\+r\+\_\+rot\+\_\+L}}
\begin{DoxyCompactList}\small\item\em right foot rotation matrix in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a95d6800597841b02f27880933a50ef70}\label{structDataBus_a95d6800597841b02f27880933a50ef70}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a95d6800597841b02f27880933a50ef70}{fe\+\_\+l\+\_\+rot\+\_\+L}}
\begin{DoxyCompactList}\small\item\em left foot rotation matrix in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a38c64e972770545c6756d4d942dbaef4}\label{structDataBus_a38c64e972770545c6756d4d942dbaef4}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a38c64e972770545c6756d4d942dbaef4}{fe\+\_\+r\+\_\+pos\+\_\+\+L\+\_\+cmd}}
\begin{DoxyCompactList}\small\item\em desired command of right foot position in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a5803b796bfc91a296508483241e3b2b0}\label{structDataBus_a5803b796bfc91a296508483241e3b2b0}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a5803b796bfc91a296508483241e3b2b0}{fe\+\_\+l\+\_\+pos\+\_\+\+L\+\_\+cmd}}
\begin{DoxyCompactList}\small\item\em desired command of left foot position in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ae96ef6b47b338248de9ba62fb99b7879}\label{structDataBus_ae96ef6b47b338248de9ba62fb99b7879}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_ae96ef6b47b338248de9ba62fb99b7879}{fe\+\_\+r\+\_\+rot\+\_\+\+L\+\_\+cmd}}
\begin{DoxyCompactList}\small\item\em desired command of right foot rotation matrix in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a2bb16ba735000cbab0dfa8de182a11ab}\label{structDataBus_a2bb16ba735000cbab0dfa8de182a11ab}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a2bb16ba735000cbab0dfa8de182a11ab}{fe\+\_\+l\+\_\+rot\+\_\+\+L\+\_\+cmd}}
\begin{DoxyCompactList}\small\item\em desired command of left foot rotation matrix in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_aa1bf2f25cbec034e564125d6890df8f7}\label{structDataBus_aa1bf2f25cbec034e564125d6890df8f7}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_aa1bf2f25cbec034e564125d6890df8f7}{hd\+\_\+r\+\_\+pos\+\_\+W}}
\begin{DoxyCompactList}\small\item\em right hand position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a9582a6fdf672e9dd3f08a390758aafaf}\label{structDataBus_a9582a6fdf672e9dd3f08a390758aafaf}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a9582a6fdf672e9dd3f08a390758aafaf}{hd\+\_\+l\+\_\+pos\+\_\+W}}
\begin{DoxyCompactList}\small\item\em left hand position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a2ebe414c042f067bc8819b43c9436832}\label{structDataBus_a2ebe414c042f067bc8819b43c9436832}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a2ebe414c042f067bc8819b43c9436832}{hd\+\_\+r\+\_\+rot\+\_\+W}}
\begin{DoxyCompactList}\small\item\em right hand rotation matrix in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a0b4be606ac9be86dc76f6e562d4af358}\label{structDataBus_a0b4be606ac9be86dc76f6e562d4af358}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a0b4be606ac9be86dc76f6e562d4af358}{hd\+\_\+l\+\_\+rot\+\_\+W}}
\begin{DoxyCompactList}\small\item\em left hand rotation matrix in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ab7eb16bbdf791e8f4e08e10cacf9e1fa}\label{structDataBus_ab7eb16bbdf791e8f4e08e10cacf9e1fa}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_ab7eb16bbdf791e8f4e08e10cacf9e1fa}{hd\+\_\+r\+\_\+pos\+\_\+L}}
\begin{DoxyCompactList}\small\item\em left hand position in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_aa460fea6d01355839c3508373c607170}\label{structDataBus_aa460fea6d01355839c3508373c607170}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_aa460fea6d01355839c3508373c607170}{hd\+\_\+l\+\_\+pos\+\_\+L}}
\begin{DoxyCompactList}\small\item\em right hand position in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a30ea99f034a267da0c909900a972f132}\label{structDataBus_a30ea99f034a267da0c909900a972f132}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a30ea99f034a267da0c909900a972f132}{hd\+\_\+r\+\_\+rot\+\_\+L}}
\begin{DoxyCompactList}\small\item\em left hand rotation matrix in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a938f8a1673963dde6924779b9377f3f6}\label{structDataBus_a938f8a1673963dde6924779b9377f3f6}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a938f8a1673963dde6924779b9377f3f6}{hd\+\_\+l\+\_\+rot\+\_\+L}}
\begin{DoxyCompactList}\small\item\em right hand rotation matrix in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a985be244042640dea42db4147c4e625b}\label{structDataBus_a985be244042640dea42db4147c4e625b}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a985be244042640dea42db4147c4e625b}{q\+Cmd}}
\begin{DoxyCompactList}\small\item\em desired command of position variable \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a6a5d9134fc0bae50e92f0dbf4c827544}\label{structDataBus_a6a5d9134fc0bae50e92f0dbf4c827544}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a6a5d9134fc0bae50e92f0dbf4c827544}{dq\+Cmd}}
\begin{DoxyCompactList}\small\item\em desired command of velocity variable \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a6c1e3ed7c41b379a2f60ba5ee67f2ed9}\label{structDataBus_a6c1e3ed7c41b379a2f60ba5ee67f2ed9}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a6c1e3ed7c41b379a2f60ba5ee67f2ed9}{tau\+Joint\+Cmd}}
\begin{DoxyCompactList}\small\item\em desired torque of the joint \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a89e3ed169f2093e233629aebeb105fbc}\label{structDataBus_a89e3ed169f2093e233629aebeb105fbc}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_a89e3ed169f2093e233629aebeb105fbc}{dyn\+\_\+M}}
\begin{DoxyCompactList}\small\item\em dynamic parameters of the dynamic function M$\ast$ddq+\+C$\ast$dq+G=tau \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a7ddad63ca212708e9e3c880567c9f99a}\label{structDataBus_a7ddad63ca212708e9e3c880567c9f99a}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_a7ddad63ca212708e9e3c880567c9f99a}{dyn\+\_\+\+M\+\_\+inv}}
\begin{DoxyCompactList}\small\item\em inverse of dynamic parameters dyn\+\_\+M \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ac2c307051d65ea3679fdc630ac28bbc2}\label{structDataBus_ac2c307051d65ea3679fdc630ac28bbc2}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_ac2c307051d65ea3679fdc630ac28bbc2}{dyn\+\_\+C}}
\begin{DoxyCompactList}\small\item\em dynamic parameters of the dynamic function M$\ast$ddq+\+C$\ast$dq+G=tau \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ad7a084dee55715eb8e65307137d71ee5}\label{structDataBus_ad7a084dee55715eb8e65307137d71ee5}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_ad7a084dee55715eb8e65307137d71ee5}{dyn\+\_\+\+Ag}}
\begin{DoxyCompactList}\small\item\em Centroidal Momentum Matrix. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ae46a01b6e4a05927577e0f9a58bb9528}\label{structDataBus_ae46a01b6e4a05927577e0f9a58bb9528}} 
Eigen\+::\+Matrix\+Xd \mbox{\hyperlink{structDataBus_ae46a01b6e4a05927577e0f9a58bb9528}{dyn\+\_\+d\+Ag}}
\begin{DoxyCompactList}\small\item\em Centroidal Momentum Matrix time variant. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a29ea8abda4616465d07ecacf866f7ab6}\label{structDataBus_a29ea8abda4616465d07ecacf866f7ab6}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a29ea8abda4616465d07ecacf866f7ab6}{dyn\+\_\+G}}
\begin{DoxyCompactList}\small\item\em dynamic parameters of the dynamic function M$\ast$ddq+\+C$\ast$dq+G=tau \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a377a7cdd1719fbdd45391759c52937f4}\label{structDataBus_a377a7cdd1719fbdd45391759c52937f4}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a377a7cdd1719fbdd45391759c52937f4}{dyn\+\_\+\+Non}}
\begin{DoxyCompactList}\small\item\em dynamic parameters of the dynamic function M$\ast$ddq+\+C$\ast$dq+G=tau, dyn\+\_\+\+Non=dyn\+\_\+\+C$\ast$dq+dyn\+\_\+G \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ae779042fd8fb64ba3e21a505c5f1a6d6}\label{structDataBus_ae779042fd8fb64ba3e21a505c5f1a6d6}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_ae779042fd8fb64ba3e21a505c5f1a6d6}{base\+\_\+omega\+\_\+L}}
\begin{DoxyCompactList}\small\item\em body angle velocity expressed in local frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_aafbebba614c6bc9e1cebd6a432a44ad2}\label{structDataBus_aafbebba614c6bc9e1cebd6a432a44ad2}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_aafbebba614c6bc9e1cebd6a432a44ad2}{base\+\_\+omega\+\_\+W}}
\begin{DoxyCompactList}\small\item\em body angle velocity expressed in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a707d4278aa346e8677a87c95f6edb7bb}\label{structDataBus_a707d4278aa346e8677a87c95f6edb7bb}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a707d4278aa346e8677a87c95f6edb7bb}{base\+\_\+rpy}}
\begin{DoxyCompactList}\small\item\em rpy angle expressed in Eigen type in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_aede1ab3d0316d9f1d1f5275c35282f33}\label{structDataBus_aede1ab3d0316d9f1d1f5275c35282f33}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_aede1ab3d0316d9f1d1f5275c35282f33}{slop}}
\begin{DoxyCompactList}\small\item\em the foot slope, expressed in euler angle \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a5e70930038178da11905e640cfb957d3}\label{structDataBus_a5e70930038178da11905e640cfb957d3}} 
Eigen\+::\+Matrix$<$ double, 3, 3 $>$ \mbox{\hyperlink{structDataBus_a5e70930038178da11905e640cfb957d3}{inertia}}
\begin{DoxyCompactList}\small\item\em whole body inertia matrix w.\+r.\+t center of mass of robot, computed from pinocchio and used in \mbox{\hyperlink{classMPC}{M\+PC}} module \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a92a868be7ed2d886f266e844399762dd}\label{structDataBus_a92a868be7ed2d886f266e844399762dd}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a92a868be7ed2d886f266e844399762dd}{js\+\_\+eul\+\_\+des}}
\begin{DoxyCompactList}\small\item\em euler angle command from joystick controller in body frame, for now, only yaw is controllable \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a298ff350cb0f7dc9679fb90909aa4650}\label{structDataBus_a298ff350cb0f7dc9679fb90909aa4650}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a298ff350cb0f7dc9679fb90909aa4650}{js\+\_\+pos\+\_\+des}}
\begin{DoxyCompactList}\small\item\em position command from joystick controller in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a176bf04fd501acfa68ee3083532df705}\label{structDataBus_a176bf04fd501acfa68ee3083532df705}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a176bf04fd501acfa68ee3083532df705}{js\+\_\+omega\+\_\+des}}
\begin{DoxyCompactList}\small\item\em angle velocity command from joystick controller in body frame, for now, only omega along z-\/axis is controllable \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a05de3821b1aa986adc8a98ec8469d55a}\label{structDataBus_a05de3821b1aa986adc8a98ec8469d55a}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a05de3821b1aa986adc8a98ec8469d55a}{js\+\_\+vel\+\_\+des}}
\begin{DoxyCompactList}\small\item\em velocity command from joystick controller in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_af419057fb271481e6a87001d5610eb8e}\label{structDataBus_af419057fb271481e6a87001d5610eb8e}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_af419057fb271481e6a87001d5610eb8e}{Xd}}
\begin{DoxyCompactList}\small\item\em desired X state variable in \mbox{\hyperlink{classMPC}{M\+PC}} module \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_af0d2fc25fbd40d7ac179b5779f2c40ff}\label{structDataBus_af0d2fc25fbd40d7ac179b5779f2c40ff}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_af0d2fc25fbd40d7ac179b5779f2c40ff}{X\+\_\+cur}}
\begin{DoxyCompactList}\small\item\em current X state variable in \mbox{\hyperlink{classMPC}{M\+PC}} module \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a0e9b3fcc75265308f10ba5862815087a}\label{structDataBus_a0e9b3fcc75265308f10ba5862815087a}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a0e9b3fcc75265308f10ba5862815087a}{X\+\_\+cal}}
\begin{DoxyCompactList}\small\item\em predict X state variable result calculated by \mbox{\hyperlink{classMPC}{M\+PC}} \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_acd18e8fba3e72021ab80a98aa369c8f4}\label{structDataBus_acd18e8fba3e72021ab80a98aa369c8f4}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_acd18e8fba3e72021ab80a98aa369c8f4}{d\+X\+\_\+cal}}
\begin{DoxyCompactList}\small\item\em predict dX ( $\dot{X}$) calculated using X\+\_\+cal \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_afd875c0de2f7f46587f3ebe4ae73d2fa}\label{structDataBus_afd875c0de2f7f46587f3ebe4ae73d2fa}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_afd875c0de2f7f46587f3ebe4ae73d2fa}{fe\+\_\+react\+\_\+tau\+\_\+cmd}}
\begin{DoxyCompactList}\small\item\em desired ground reaction force predicted by \mbox{\hyperlink{classMPC}{M\+PC}} during all the horizons \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_aa0f7ebdfdf0f8f731c742bed2e6303ed}\label{structDataBus_aa0f7ebdfdf0f8f731c742bed2e6303ed}} 
double \mbox{\hyperlink{structDataBus_aa0f7ebdfdf0f8f731c742bed2e6303ed}{qp\+\_\+n\+W\+S\+R\+\_\+\+M\+PC}}
\begin{DoxyCompactList}\small\item\em QP solver parameter. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a6f017e61e7fc6b9c45ef671a710b34bc}\label{structDataBus_a6f017e61e7fc6b9c45ef671a710b34bc}} 
double \mbox{\hyperlink{structDataBus_a6f017e61e7fc6b9c45ef671a710b34bc}{qp\+\_\+cpu\+Time\+\_\+\+M\+PC}}
\begin{DoxyCompactList}\small\item\em QP solver parameter -\/ solving time,. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a252ca3e33ac63c8f45edfff68100189e}\label{structDataBus_a252ca3e33ac63c8f45edfff68100189e}} 
double \mbox{\hyperlink{structDataBus_a252ca3e33ac63c8f45edfff68100189e}{qp\+Status\+\_\+\+M\+PC}}
\begin{DoxyCompactList}\small\item\em QP solver parameter -\/ solving outcomes (successful or not) \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_af03f33eb3cb6bcf43ff21cee18b2a2e6}\label{structDataBus_af03f33eb3cb6bcf43ff21cee18b2a2e6}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_af03f33eb3cb6bcf43ff21cee18b2a2e6}{base\+\_\+rpy\+\_\+des}}
\begin{DoxyCompactList}\small\item\em desired body euler angle in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ac4981d5de060aa4bb117f39c2563c6ba}\label{structDataBus_ac4981d5de060aa4bb117f39c2563c6ba}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_ac4981d5de060aa4bb117f39c2563c6ba}{base\+\_\+pos\+\_\+des}}
\begin{DoxyCompactList}\small\item\em desired body position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a131e7ab67172ee9934441b5c00187363}\label{structDataBus_a131e7ab67172ee9934441b5c00187363}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a131e7ab67172ee9934441b5c00187363}{des\+\_\+ddq}}
\begin{DoxyCompactList}\small\item\em desired generalized acceleration \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a4c495f9b2d97807c38e726dbada293a7}\label{structDataBus_a4c495f9b2d97807c38e726dbada293a7}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a4c495f9b2d97807c38e726dbada293a7}{des\+\_\+dq}}
\begin{DoxyCompactList}\small\item\em desired generalized velocity \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a09bff47a59cfc71aff09f62df7f4f95e}\label{structDataBus_a09bff47a59cfc71aff09f62df7f4f95e}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a09bff47a59cfc71aff09f62df7f4f95e}{des\+\_\+delta\+\_\+q}}
\begin{DoxyCompactList}\small\item\em desired generalized position increment (usually dq $\ast$ dt) \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_aa1b32738002109b3d8dafb4fd61dac2f}\label{structDataBus_aa1b32738002109b3d8dafb4fd61dac2f}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_aa1b32738002109b3d8dafb4fd61dac2f}{des\+\_\+q}}
\begin{DoxyCompactList}\small\item\em desired generalized position \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_aa0e8b071bd5d432229b0f31ef839c3f3}\label{structDataBus_aa0e8b071bd5d432229b0f31ef839c3f3}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_aa0e8b071bd5d432229b0f31ef839c3f3}{swing\+\_\+fe\+\_\+pos\+\_\+des\+\_\+W}}
\begin{DoxyCompactList}\small\item\em desired swing foot end position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a286e3619258ff05a05c1c7858caa03fa}\label{structDataBus_a286e3619258ff05a05c1c7858caa03fa}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a286e3619258ff05a05c1c7858caa03fa}{swing\+\_\+fe\+\_\+rpy\+\_\+des\+\_\+W}}
\begin{DoxyCompactList}\small\item\em desired swing foot end angle position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a9a0d5709c566c7421d44f0e8beda62c2}\label{structDataBus_a9a0d5709c566c7421d44f0e8beda62c2}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a9a0d5709c566c7421d44f0e8beda62c2}{stance\+\_\+fe\+\_\+pos\+\_\+cur\+\_\+W}}
\begin{DoxyCompactList}\small\item\em current stance foot end position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a0afb2e446d4c0caedd5c4e0f97695f34}\label{structDataBus_a0afb2e446d4c0caedd5c4e0f97695f34}} 
Eigen\+::\+Matrix3d \mbox{\hyperlink{structDataBus_a0afb2e446d4c0caedd5c4e0f97695f34}{stance\+\_\+fe\+\_\+rot\+\_\+cur\+\_\+W}}
\begin{DoxyCompactList}\small\item\em current stance foot end angle position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_abbf1e7f7fea2191d05ce3252ae52e879}\label{structDataBus_abbf1e7f7fea2191d05ce3252ae52e879}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_abbf1e7f7fea2191d05ce3252ae52e879}{wbc\+\_\+delta\+\_\+q\+\_\+final}}
\begin{DoxyCompactList}\small\item\em final generalized position increment after wbc computing \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ade7bf3a259767473423ff44a178b8dc1}\label{structDataBus_ade7bf3a259767473423ff44a178b8dc1}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_ade7bf3a259767473423ff44a178b8dc1}{wbc\+\_\+dq\+\_\+final}}
\begin{DoxyCompactList}\small\item\em final generalized velocity after wbc computing \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ad65ef145124b588a62c1505a9acf3767}\label{structDataBus_ad65ef145124b588a62c1505a9acf3767}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_ad65ef145124b588a62c1505a9acf3767}{wbc\+\_\+ddq\+\_\+final}}
\begin{DoxyCompactList}\small\item\em final generalized acceleration after wbc computing \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a65528a5d511f22b2ba35d544460d0926}\label{structDataBus_a65528a5d511f22b2ba35d544460d0926}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a65528a5d511f22b2ba35d544460d0926}{wbc\+\_\+tau\+Joint\+Res}}
\begin{DoxyCompactList}\small\item\em desired torque of joint after wbc computing \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_af87720bdc128aaf11f6496200af1a1f9}\label{structDataBus_af87720bdc128aaf11f6496200af1a1f9}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_af87720bdc128aaf11f6496200af1a1f9}{wbc\+\_\+\+Fr\+Res}}
\begin{DoxyCompactList}\small\item\em desired ground reaction force after wbc computing \end{DoxyCompactList}\item 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{structDataBus_a79a32e4d61bd3d1d9026230669cf418f}{Fr\+\_\+ff}}
\begin{DoxyCompactList}\small\item\em feedforwrd force (ground reaction force) computed by \mbox{\hyperlink{classMPC}{M\+PC}}, is the first horizon result of fe\+\_\+react\+\_\+tau\+\_\+cmd. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a3d8447bc1e464140c5fa6b50a5df2ce0}\label{structDataBus_a3d8447bc1e464140c5fa6b50a5df2ce0}} 
int \mbox{\hyperlink{structDataBus_a3d8447bc1e464140c5fa6b50a5df2ce0}{qp\+\_\+n\+W\+SR}}
\begin{DoxyCompactList}\small\item\em QP solver parameter. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a0c65dc5887bec780cbb0b8b421e9b478}\label{structDataBus_a0c65dc5887bec780cbb0b8b421e9b478}} 
double \mbox{\hyperlink{structDataBus_a0c65dc5887bec780cbb0b8b421e9b478}{qp\+\_\+cpu\+Time}}
\begin{DoxyCompactList}\small\item\em QP solving time limit. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a34bcde8ab49fc624a23771e8972248ed}\label{structDataBus_a34bcde8ab49fc624a23771e8972248ed}} 
int \mbox{\hyperlink{structDataBus_a34bcde8ab49fc624a23771e8972248ed}{qp\+\_\+status}}
\begin{DoxyCompactList}\small\item\em QP solving outcomes (successful or not) \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a10764ddec95c7b01b4d00e75c19e4b48}\label{structDataBus_a10764ddec95c7b01b4d00e75c19e4b48}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a10764ddec95c7b01b4d00e75c19e4b48}{swing\+Start\+Pos\+\_\+W}}
\begin{DoxyCompactList}\small\item\em swing foot end start position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a3652b688142afa51a891a01bce471566}\label{structDataBus_a3652b688142afa51a891a01bce471566}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a3652b688142afa51a891a01bce471566}{swing\+Des\+Pos\+Cur\+\_\+L}}
\begin{DoxyCompactList}\small\item\em current desired swing foot end position in body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a872d4c01ddcc325893e0593a82a53653}\label{structDataBus_a872d4c01ddcc325893e0593a82a53653}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a872d4c01ddcc325893e0593a82a53653}{stance\+Des\+Pos\+\_\+W}}
\begin{DoxyCompactList}\small\item\em stance foot position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a2dd269f857bfd6dd3928e524b0b41b05}\label{structDataBus_a2dd269f857bfd6dd3928e524b0b41b05}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a2dd269f857bfd6dd3928e524b0b41b05}{pos\+Hip\+\_\+W}}
\begin{DoxyCompactList}\small\item\em hip position in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a4c5b5784c198db0660db285b308a541f}\label{structDataBus_a4c5b5784c198db0660db285b308a541f}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_a4c5b5784c198db0660db285b308a541f}{des\+V\+\_\+W}}
\begin{DoxyCompactList}\small\item\em desired body linear velocity in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ac20879543c05bf3efff2d60a0e3b30b2}\label{structDataBus_ac20879543c05bf3efff2d60a0e3b30b2}} 
double \mbox{\hyperlink{structDataBus_ac20879543c05bf3efff2d60a0e3b30b2}{des\+Wz\+\_\+W}}
\begin{DoxyCompactList}\small\item\em desired yaw-\/angular velocity in world frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ac2e4fb0dfd07ba322070e3bd6b204e33}\label{structDataBus_ac2e4fb0dfd07ba322070e3bd6b204e33}} 
double \mbox{\hyperlink{structDataBus_ac2e4fb0dfd07ba322070e3bd6b204e33}{theta0}}
\begin{DoxyCompactList}\small\item\em offset yaw angle of the swing foot(+pi/2 for left and -\/pi/2 for right), w.\+r.\+t body frame \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a97c72f31ccfbc780ca768b6df47d5b8b}\label{structDataBus_a97c72f31ccfbc780ca768b6df47d5b8b}} 
double \mbox{\hyperlink{structDataBus_a97c72f31ccfbc780ca768b6df47d5b8b}{width\+\_\+hips}}
\begin{DoxyCompactList}\small\item\em distance between the left and right hip \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a0872af337cf744df13666d1ca70ddfab}\label{structDataBus_a0872af337cf744df13666d1ca70ddfab}} 
double \mbox{\hyperlink{structDataBus_a0872af337cf744df13666d1ca70ddfab}{t\+Swing}}
\begin{DoxyCompactList}\small\item\em swing period \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a356f98de11378aa6fbdf67c6076a6868}\label{structDataBus_a356f98de11378aa6fbdf67c6076a6868}} 
double \mbox{\hyperlink{structDataBus_a356f98de11378aa6fbdf67c6076a6868}{phi}}
\begin{DoxyCompactList}\small\item\em phase varialbe for trajectory generation, must between 0 and 1, used in foot\+Placement, phi = 1 means stance foot transition \end{DoxyCompactList}\item 
double \mbox{\hyperlink{structDataBus_a55ce7b18613eaea0e8983d697b816e9a}{theta\+Z\+\_\+des}} \{0\}
\item 
\mbox{\Hypertarget{structDataBus_af3616a7ffbfec988f239485c4b550a2f}\label{structDataBus_af3616a7ffbfec988f239485c4b550a2f}} 
\mbox{\hyperlink{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7e}{Leg\+State}} \mbox{\hyperlink{structDataBus_af3616a7ffbfec988f239485c4b550a2f}{leg\+State}}
\begin{DoxyCompactList}\small\item\em current leg stance state \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_a4047b0d4ca169264a0388439313b63d9}\label{structDataBus_a4047b0d4ca169264a0388439313b63d9}} 
\mbox{\hyperlink{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7e}{Leg\+State}} \mbox{\hyperlink{structDataBus_a4047b0d4ca169264a0388439313b63d9}{leg\+State\+Next}}
\begin{DoxyCompactList}\small\item\em next leg stance state \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_ad72d44b623e1a141956ca249cb3dfe58}\label{structDataBus_ad72d44b623e1a141956ca249cb3dfe58}} 
Eigen\+::\+Vector3d \mbox{\hyperlink{structDataBus_ad72d44b623e1a141956ca249cb3dfe58}{base\+\_\+pos\+\_\+stand}}
\begin{DoxyCompactList}\small\item\em baselink position when standing \end{DoxyCompactList}\item 
\mbox{\Hypertarget{structDataBus_acc535c6870632e397ce8ed1d08b06386}\label{structDataBus_acc535c6870632e397ce8ed1d08b06386}} 
Eigen\+::\+Matrix$<$ double, 6, 1 $>$ {\bfseries pfe\+W\+\_\+stand}
\item 
\mbox{\Hypertarget{structDataBus_a9dc54fcc0ad8516e2a92bbc8a8689cfa}\label{structDataBus_a9dc54fcc0ad8516e2a92bbc8a8689cfa}} 
Eigen\+::\+Matrix$<$ double, 6, 1 $>$ \mbox{\hyperlink{structDataBus_a9dc54fcc0ad8516e2a92bbc8a8689cfa}{pfe\+W0}}
\begin{DoxyCompactList}\small\item\em T\+O\+DO. \end{DoxyCompactList}\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
The software model for data transporting. 

This class stores all the data needed to be transported general information flow is\+: M\+J\+Interface -\/$>$ \mbox{\hyperlink{classPin__KinDyn}{Pin\+\_\+\+Kin\+Dyn}} -\/$>$ gait\+Scheduler -\/$>$ foot\+Placement -\/$>$ \mbox{\hyperlink{classMPC}{M\+PC}} -\/$>$ W\+BC -\/$>$ \mbox{\hyperlink{classPVT__Ctr}{P\+V\+T\+\_\+\+Ctr}} 

Definition at line 22 of file data\+\_\+bus.\+h.



\doxysubsection{Member Enumeration Documentation}
\mbox{\Hypertarget{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7e}\label{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7e}} 
\index{DataBus@{DataBus}!LegState@{LegState}}
\index{LegState@{LegState}!DataBus@{DataBus}}
\doxysubsubsection{\texorpdfstring{LegState}{LegState}}
{\footnotesize\ttfamily enum \mbox{\hyperlink{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7e}{Data\+Bus\+::\+Leg\+State}}}



enum current leg stance states 

\begin{DoxyEnumFields}{Enumerator}
\raisebox{\heightof{T}}[0pt][0pt]{\index{LSt@{LSt}!DataBus@{DataBus}}\index{DataBus@{DataBus}!LSt@{LSt}}}\mbox{\Hypertarget{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec}\label{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec}} 
L\+St&left leg stance \\
\hline

\raisebox{\heightof{T}}[0pt][0pt]{\index{DSt@{DSt}!DataBus@{DataBus}}\index{DataBus@{DataBus}!DSt@{DSt}}}\mbox{\Hypertarget{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7ea4b29d84a010b44b9b4110be2183ab3a2}\label{structDataBus_a0dcb8a4552bb6b37259a61d601cd7d7ea4b29d84a010b44b9b4110be2183ab3a2}} 
D\+St&no use but reserverd \\
\hline

\end{DoxyEnumFields}


Definition at line 164 of file data\+\_\+bus.\+h.



\doxysubsection{Constructor \& Destructor Documentation}
\mbox{\Hypertarget{structDataBus_a2fe45f9893482708677ee68305685b72}\label{structDataBus_a2fe45f9893482708677ee68305685b72}} 
\index{DataBus@{DataBus}!DataBus@{DataBus}}
\index{DataBus@{DataBus}!DataBus@{DataBus}}
\doxysubsubsection{\texorpdfstring{DataBus()}{DataBus()}}
{\footnotesize\ttfamily Data\+Bus\+::\+Data\+Bus (\begin{DoxyParamCaption}\item[{int}]{model\+\_\+nv\+In }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}



Construct a new Data Bus object. 


\begin{DoxyParams}{Parameters}
{\em model\+\_\+nv\+In} & the number of generalized cooridnate, i.\+e. the number of nv or dq \\
\hline
\end{DoxyParams}


Definition at line 185 of file data\+\_\+bus.\+h.



References base\+\_\+pos\+\_\+des, base\+\_\+rpy\+\_\+des, ddq, des\+\_\+ddq, des\+\_\+delta\+\_\+q, des\+\_\+dq, dq, dq\+Cmd, d\+X\+\_\+cal, fe\+\_\+react\+\_\+tau\+\_\+cmd, F\+L\+\_\+est, F\+R\+\_\+est, Fr\+\_\+ff, js\+\_\+eul\+\_\+des, js\+\_\+omega\+\_\+des, js\+\_\+pos\+\_\+des, js\+\_\+vel\+\_\+des, model\+\_\+nv, motors\+\_\+pos\+\_\+cur, motors\+\_\+pos\+\_\+des, motors\+\_\+tor\+\_\+cur, motors\+\_\+tor\+\_\+des, motors\+\_\+tor\+\_\+out, motors\+\_\+vel\+\_\+cur, motors\+\_\+vel\+\_\+des, q, q\+Cmd, q\+Old, tau\+Joint\+Cmd, X\+\_\+cal, X\+\_\+cur, and Xd.



\doxysubsection{Member Function Documentation}
\mbox{\Hypertarget{structDataBus_ad2308a852d46c6b1471c2253bd129620}\label{structDataBus_ad2308a852d46c6b1471c2253bd129620}} 
\index{DataBus@{DataBus}!eul2quat@{eul2quat}}
\index{eul2quat@{eul2quat}!DataBus@{DataBus}}
\doxysubsubsection{\texorpdfstring{eul2quat()}{eul2quat()}}
{\footnotesize\ttfamily Eigen\+::\+Quaterniond Data\+Bus\+::eul2quat (\begin{DoxyParamCaption}\item[{double}]{roll,  }\item[{double}]{pitch,  }\item[{double}]{yaw }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}



compute quaternoin from euler angle 


\begin{DoxyParams}{Parameters}
{\em roll} & rotating about x-\/axis \\
\hline
{\em pitch} & rotating about y-\/axis \\
\hline
{\em yaw} & rotating about z-\/axis \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Eigen\+::\+Quaterniond 
\end{DoxyReturn}


Definition at line 317 of file data\+\_\+bus.\+h.



References eul2\+Rot().



Referenced by update\+Q().

\mbox{\Hypertarget{structDataBus_af2ffb1739963462a7dfc20fc1e4a6192}\label{structDataBus_af2ffb1739963462a7dfc20fc1e4a6192}} 
\index{DataBus@{DataBus}!eul2Rot@{eul2Rot}}
\index{eul2Rot@{eul2Rot}!DataBus@{DataBus}}
\doxysubsubsection{\texorpdfstring{eul2Rot()}{eul2Rot()}}
{\footnotesize\ttfamily Eigen\+::\+Matrix$<$double, 3, 3$>$ Data\+Bus\+::eul2\+Rot (\begin{DoxyParamCaption}\item[{double}]{roll,  }\item[{double}]{pitch,  }\item[{double}]{yaw }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}



compute the rotation matrix using euler angle 


\begin{DoxyParams}{Parameters}
{\em roll} & rotating about x-\/axis \\
\hline
{\em pitch} & rotating about y-\/axis \\
\hline
{\em yaw} & rotating about z-\/axis \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Eigen\+::\+Matrix$<$double, 3, 3$>$ 
\end{DoxyReturn}


Definition at line 295 of file data\+\_\+bus.\+h.



Referenced by eul2quat(), and update\+Q().

\mbox{\Hypertarget{structDataBus_addcaefa0eeba96ed370e8b24e4ebd940}\label{structDataBus_addcaefa0eeba96ed370e8b24e4ebd940}} 
\index{DataBus@{DataBus}!printdq@{printdq}}
\index{printdq@{printdq}!DataBus@{DataBus}}
\doxysubsubsection{\texorpdfstring{printdq()}{printdq()}}
{\footnotesize\ttfamily static void Data\+Bus\+::printdq (\begin{DoxyParamCaption}\item[{const Eigen\+::\+Vector\+Xd \&}]{q }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}



print the information of dq to the terminal 


\begin{DoxyParams}{Parameters}
{\em q} & the generalized velocity \\
\hline
\end{DoxyParams}


Definition at line 264 of file data\+\_\+bus.\+h.



References q.

\mbox{\Hypertarget{structDataBus_a8879e68efdd97fdada83e7b28b3c4bca}\label{structDataBus_a8879e68efdd97fdada83e7b28b3c4bca}} 
\index{DataBus@{DataBus}!printq@{printq}}
\index{printq@{printq}!DataBus@{DataBus}}
\doxysubsubsection{\texorpdfstring{printq()}{printq()}}
{\footnotesize\ttfamily static void Data\+Bus\+::printq (\begin{DoxyParamCaption}\item[{const Eigen\+::\+Vector\+Xd \&}]{q }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}



print the information of q to the terminal 


\begin{DoxyParams}{Parameters}
{\em q} & the generalized postition \\
\hline
\end{DoxyParams}


Definition at line 278 of file data\+\_\+bus.\+h.



References q.

\mbox{\Hypertarget{structDataBus_a1673b53d2c783faaf80cb549c2065d78}\label{structDataBus_a1673b53d2c783faaf80cb549c2065d78}} 
\index{DataBus@{DataBus}!updateQ@{updateQ}}
\index{updateQ@{updateQ}!DataBus@{DataBus}}
\doxysubsubsection{\texorpdfstring{updateQ()}{updateQ()}}
{\footnotesize\ttfamily void Data\+Bus\+::updateQ (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}



update q (generalized coordinate) according to sensor values 

\begin{DoxyWarning}{Warning}
must update sensor values before 
\end{DoxyWarning}
\begin{DoxySeeAlso}{See also}
update\+Sensor\+Values() use it to update sensor value 
\end{DoxySeeAlso}


Definition at line 224 of file data\+\_\+bus.\+h.



References base\+\_\+omega\+\_\+W, base\+\_\+pos, base\+\_\+rot, base\+\_\+rpy, base\+Ang\+Vel, base\+Lin\+Vel, base\+Pos, dq, eul2quat(), eul2\+Rot(), model\+\_\+nv, motors\+\_\+pos\+\_\+cur, motors\+\_\+vel\+\_\+cur, q, q\+Old, and rpy.



Referenced by M\+J\+\_\+\+Interface\+::data\+Bus\+Write().



\doxysubsection{Member Data Documentation}
\mbox{\Hypertarget{structDataBus_a79a32e4d61bd3d1d9026230669cf418f}\label{structDataBus_a79a32e4d61bd3d1d9026230669cf418f}} 
\index{DataBus@{DataBus}!Fr\_ff@{Fr\_ff}}
\index{Fr\_ff@{Fr\_ff}!DataBus@{DataBus}}
\doxysubsubsection{\texorpdfstring{Fr\_ff}{Fr\_ff}}
{\footnotesize\ttfamily Eigen\+::\+Vector\+Xd Data\+Bus\+::\+Fr\+\_\+ff}



feedforwrd force (ground reaction force) computed by \mbox{\hyperlink{classMPC}{M\+PC}}, is the first horizon result of fe\+\_\+react\+\_\+tau\+\_\+cmd. 

\begin{DoxySeeAlso}{See also}
\mbox{\hyperlink{structDataBus_afd875c0de2f7f46587f3ebe4ae73d2fa}{fe\+\_\+react\+\_\+tau\+\_\+cmd}} 
\end{DoxySeeAlso}


Definition at line 144 of file data\+\_\+bus.\+h.



Referenced by Data\+Bus(), W\+B\+C\+\_\+priority\+::data\+Bus\+Read(), and M\+P\+C\+::data\+Bus\+Write().

\mbox{\Hypertarget{structDataBus_a55ce7b18613eaea0e8983d697b816e9a}\label{structDataBus_a55ce7b18613eaea0e8983d697b816e9a}} 
\index{DataBus@{DataBus}!thetaZ\_des@{thetaZ\_des}}
\index{thetaZ\_des@{thetaZ\_des}!DataBus@{DataBus}}
\doxysubsubsection{\texorpdfstring{thetaZ\_des}{thetaZ\_des}}
{\footnotesize\ttfamily double Data\+Bus\+::theta\+Z\+\_\+des \{0\}}

\begin{DoxyRefDesc}{Deprecated}
\item[\mbox{\hyperlink{deprecated__deprecated000001}{Deprecated}}]desired yaw angle of the body \end{DoxyRefDesc}


Definition at line 171 of file data\+\_\+bus.\+h.



The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
data\+\_\+bus.\+h\end{DoxyCompactItemize}
